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   <div id="projectname">SimpleRobot
   &#160;<span id="projectnumber">1.0</span>
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   <div id="projectbrief">简易四轴机器人动画</div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef CONTROL_H</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define CONTROL_H</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#include &lt;QTimer&gt;</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;QObject&gt;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &quot;model.h&quot;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;</div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="keyword">class </span><a class="code" href="class_model.html">Model</a>;</div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="keyword">class </span><a class="code" href="class_view.html">View</a>;</div>
<div class="line"><a name="l00010"></a><span class="lineno"><a class="line" href="class_control.html">   10</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_control.html">Control</a> : <span class="keyword">public</span> QObject</div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;{</div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;    Q_OBJECT</div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;    <a class="code" href="class_control.html#aa730aeda4517f40bc48ba1e46ebded77">Control</a>();</div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;    <a class="code" href="class_control.html#aedda1328c4f8b8d49bca8f0812d3bfd1">~Control</a>();</div>
<div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="class_control.html#a3cfae96ae72da599e682bee89f561527">   18</a></span>&#160;    <span class="keywordtype">float</span> <a class="code" href="class_control.html#a3cfae96ae72da599e682bee89f561527">internalMsecs</a>;        </div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_control.html#ad223c63a5825a584f17a4cfc3b1b021d">RotateMasterAbs</a>(<span class="keywordtype">float</span> angle, <span class="keywordtype">float</span> speed=-1, <span class="keywordtype">bool</span> immediate=<span class="keyword">false</span>)</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    {</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;        <span class="keywordflow">return</span> actionAbs(model-&gt;MASTER_ROTATE, angle, speed, immediate);</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    }</div>
<div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="class_control.html#ada672bd88cf68c704896094e831c6712">   31</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_control.html#ada672bd88cf68c704896094e831c6712">RotateMaster</a>(<span class="keywordtype">float</span> angle, <span class="keywordtype">float</span> speed=-1, <span class="keywordtype">bool</span> immediate=<span class="keyword">false</span>)</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    {</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;        <span class="keywordflow">return</span> action(model-&gt;MASTER_ROTATE, angle, speed, immediate);</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    }</div>
<div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="class_control.html#a8639f928bd61943fc7f7a1f57b9aa544">   39</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_control.html#a8639f928bd61943fc7f7a1f57b9aa544">RotateAssistantAbs</a>(<span class="keywordtype">float</span> angle, <span class="keywordtype">float</span> speed=-1, <span class="keywordtype">bool</span> immediate=<span class="keyword">false</span>)</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    {</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;        <span class="keywordflow">return</span> actionAbs(model-&gt;ASSISTANT_ROTATE, angle, speed, immediate);</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    }</div>
<div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="class_control.html#a1472aabfe513d8abd7e55fa665ca5ed4">   47</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_control.html#a1472aabfe513d8abd7e55fa665ca5ed4">RotateAssistant</a>(<span class="keywordtype">float</span> angle, <span class="keywordtype">float</span> speed=-1, <span class="keywordtype">bool</span> immediate=<span class="keyword">false</span>)</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    {</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;        <span class="keywordflow">return</span> action(model-&gt;ASSISTANT_ROTATE, angle, speed, immediate);</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    }</div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="class_control.html#a7a42b29c54f6bbcde494a57489fe9f70">   55</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_control.html#a7a42b29c54f6bbcde494a57489fe9f70">RotateBarAbs</a>(<span class="keywordtype">float</span> angle, <span class="keywordtype">float</span> speed=-1, <span class="keywordtype">bool</span> immediate=<span class="keyword">false</span>)</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    {</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;        <span class="keywordflow">return</span> actionAbs(model-&gt;BAR_ROTATE, angle, speed, immediate);</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    }</div>
<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="class_control.html#ae7a6809f813de5bf1ad1eaf682d572df">   63</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_control.html#ae7a6809f813de5bf1ad1eaf682d572df">RotateBar</a>(<span class="keywordtype">float</span> angle, <span class="keywordtype">float</span> speed=-1, <span class="keywordtype">bool</span> immediate=<span class="keyword">false</span>)</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    {</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;        <span class="keywordflow">return</span> action(model-&gt;BAR_ROTATE, angle, speed, immediate);</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    }</div>
<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="class_control.html#a1e089b19f49a8214e5791fa2fbd87cce">   71</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_control.html#a1e089b19f49a8214e5791fa2fbd87cce">MoveBarAbs</a>(<span class="keywordtype">float</span> down, <span class="keywordtype">float</span> speed=-1, <span class="keywordtype">bool</span> immediate=<span class="keyword">false</span>)</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    {</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        <span class="keywordflow">return</span> actionAbs(model-&gt;BAR_MOVE, -down, speed, immediate);</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    }</div>
<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="class_control.html#a0e6e5b1243a21767a4707639a6536ef6">   79</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_control.html#a0e6e5b1243a21767a4707639a6536ef6">MoveBar</a>(<span class="keywordtype">float</span> down, <span class="keywordtype">float</span> speed=-1, <span class="keywordtype">bool</span> immediate=<span class="keyword">false</span>)</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    {</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        <span class="keywordflow">return</span> action(model-&gt;BAR_MOVE, -down, speed, immediate);</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    }</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_control.html#ad408f3b1eaf5b30c96600f4a299c0119">Stop</a>();</div>
<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="class_control.html#ab356fe0c8c30559cbeeb38d4b2c4cc1b">   87</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_control.html#ab356fe0c8c30559cbeeb38d4b2c4cc1b">setModel</a>(<a class="code" href="class_model.html">Model</a> *model) {</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        this-&gt;model = model;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    }</div>
<div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="class_control.html#a265d02f2f3c4e5bcffab2726ae72b54c">   92</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_control.html#a265d02f2f3c4e5bcffab2726ae72b54c">setView</a>(<a class="code" href="class_view.html">View</a> *view) { this-&gt;view = view; }</div>
<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="class_control.html#adf3a4b133db05f5c0a454fc125ab4d68">   95</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_control.html#adf3a4b133db05f5c0a454fc125ab4d68">setFinishedSignal</a>(<span class="keywordtype">bool</span> open)</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    {</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        actionFinishedOpened = open;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    }</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;<span class="keyword">protected</span> slots:</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_control.html#a06e70e1ef83056e2ec2925d17d1dfbde">onPaintTick</a>();</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <span class="keywordtype">bool</span> actionAbs(<a class="code" href="class_model.html#a639d17254535dbda93359bed8722e6c7">Model::ActionType</a> actionType, <span class="keywordtype">float</span> angle, <span class="keywordtype">float</span> speed=-1, <span class="keywordtype">bool</span> immediate=<span class="keyword">false</span>);</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <span class="keywordtype">bool</span> action(<a class="code" href="class_model.html#a639d17254535dbda93359bed8722e6c7">Model::ActionType</a> actionType, <span class="keywordtype">float</span> angle, <span class="keywordtype">float</span> speed=-1, <span class="keywordtype">bool</span> immediate=<span class="keyword">false</span>);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    <a class="code" href="class_model.html">Model</a> *model;               </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    <a class="code" href="class_view.html">View</a> *view;                 </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    QTimer paintTick;           </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    <span class="keywordtype">bool</span> actionFinishedOpened;  </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;signals:</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_control.html#aa3dfe35b337f0342abc4aaa9b25d334a">actionFinished</a>();      </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;};</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;<span class="preprocessor">#endif // CONTROL_H</span></div>
<div class="ttc" id="class_control_html_ad408f3b1eaf5b30c96600f4a299c0119"><div class="ttname"><a href="class_control.html#ad408f3b1eaf5b30c96600f4a299c0119">Control::Stop</a></div><div class="ttdeci">void Stop()</div><div class="ttdoc">停止运动 </div><div class="ttdef"><b>Definition:</b> control.cpp:17</div></div>
<div class="ttc" id="class_control_html_a1e089b19f49a8214e5791fa2fbd87cce"><div class="ttname"><a href="class_control.html#a1e089b19f49a8214e5791fa2fbd87cce">Control::MoveBarAbs</a></div><div class="ttdeci">bool MoveBarAbs(float down, float speed=-1, bool immediate=false)</div><div class="ttdoc">移动工具杆到指定位置 </div><div class="ttdef"><b>Definition:</b> control.h:71</div></div>
<div class="ttc" id="class_model_html"><div class="ttname"><a href="class_model.html">Model</a></div><div class="ttdoc">机器人数据模型 </div><div class="ttdef"><b>Definition:</b> model.h:9</div></div>
<div class="ttc" id="class_control_html_adf3a4b133db05f5c0a454fc125ab4d68"><div class="ttname"><a href="class_control.html#adf3a4b133db05f5c0a454fc125ab4d68">Control::setFinishedSignal</a></div><div class="ttdeci">void setFinishedSignal(bool open)</div><div class="ttdoc">开关结束信号 </div><div class="ttdef"><b>Definition:</b> control.h:95</div></div>
<div class="ttc" id="class_model_html_a639d17254535dbda93359bed8722e6c7"><div class="ttname"><a href="class_model.html#a639d17254535dbda93359bed8722e6c7">Model::ActionType</a></div><div class="ttdeci">ActionType</div><div class="ttdoc">动作类型 </div><div class="ttdef"><b>Definition:</b> model.h:25</div></div>
<div class="ttc" id="class_control_html_aa730aeda4517f40bc48ba1e46ebded77"><div class="ttname"><a href="class_control.html#aa730aeda4517f40bc48ba1e46ebded77">Control::Control</a></div><div class="ttdeci">Control()</div><div class="ttdoc">A constructor. </div><div class="ttdef"><b>Definition:</b> control.cpp:5</div></div>
<div class="ttc" id="class_control_html_a06e70e1ef83056e2ec2925d17d1dfbde"><div class="ttname"><a href="class_control.html#a06e70e1ef83056e2ec2925d17d1dfbde">Control::onPaintTick</a></div><div class="ttdeci">void onPaintTick()</div><div class="ttdoc">定时器中断槽 </div><div class="ttdef"><b>Definition:</b> control.cpp:65</div></div>
<div class="ttc" id="class_control_html_a7a42b29c54f6bbcde494a57489fe9f70"><div class="ttname"><a href="class_control.html#a7a42b29c54f6bbcde494a57489fe9f70">Control::RotateBarAbs</a></div><div class="ttdeci">bool RotateBarAbs(float angle, float speed=-1, bool immediate=false)</div><div class="ttdoc">旋转工具杆到指定角度 </div><div class="ttdef"><b>Definition:</b> control.h:55</div></div>
<div class="ttc" id="class_control_html_a0e6e5b1243a21767a4707639a6536ef6"><div class="ttname"><a href="class_control.html#a0e6e5b1243a21767a4707639a6536ef6">Control::MoveBar</a></div><div class="ttdeci">bool MoveBar(float down, float speed=-1, bool immediate=false)</div><div class="ttdoc">移动工具杆指定大小的位移 </div><div class="ttdef"><b>Definition:</b> control.h:79</div></div>
<div class="ttc" id="class_control_html_a8639f928bd61943fc7f7a1f57b9aa544"><div class="ttname"><a href="class_control.html#a8639f928bd61943fc7f7a1f57b9aa544">Control::RotateAssistantAbs</a></div><div class="ttdeci">bool RotateAssistantAbs(float angle, float speed=-1, bool immediate=false)</div><div class="ttdoc">旋转副臂到指定角度 </div><div class="ttdef"><b>Definition:</b> control.h:39</div></div>
<div class="ttc" id="class_control_html_ae7a6809f813de5bf1ad1eaf682d572df"><div class="ttname"><a href="class_control.html#ae7a6809f813de5bf1ad1eaf682d572df">Control::RotateBar</a></div><div class="ttdeci">bool RotateBar(float angle, float speed=-1, bool immediate=false)</div><div class="ttdoc">旋转工具杆指定大小的角度 </div><div class="ttdef"><b>Definition:</b> control.h:63</div></div>
<div class="ttc" id="class_control_html_aedda1328c4f8b8d49bca8f0812d3bfd1"><div class="ttname"><a href="class_control.html#aedda1328c4f8b8d49bca8f0812d3bfd1">Control::~Control</a></div><div class="ttdeci">~Control()</div><div class="ttdoc">A destructor. </div><div class="ttdef"><b>Definition:</b> control.cpp:13</div></div>
<div class="ttc" id="class_control_html_a3cfae96ae72da599e682bee89f561527"><div class="ttname"><a href="class_control.html#a3cfae96ae72da599e682bee89f561527">Control::internalMsecs</a></div><div class="ttdeci">float internalMsecs</div><div class="ttdoc">定时刷新时间 </div><div class="ttdef"><b>Definition:</b> control.h:18</div></div>
<div class="ttc" id="class_control_html_a1472aabfe513d8abd7e55fa665ca5ed4"><div class="ttname"><a href="class_control.html#a1472aabfe513d8abd7e55fa665ca5ed4">Control::RotateAssistant</a></div><div class="ttdeci">bool RotateAssistant(float angle, float speed=-1, bool immediate=false)</div><div class="ttdoc">旋转副臂指定大小的角度 </div><div class="ttdef"><b>Definition:</b> control.h:47</div></div>
<div class="ttc" id="class_control_html_ada672bd88cf68c704896094e831c6712"><div class="ttname"><a href="class_control.html#ada672bd88cf68c704896094e831c6712">Control::RotateMaster</a></div><div class="ttdeci">bool RotateMaster(float angle, float speed=-1, bool immediate=false)</div><div class="ttdoc">旋转主臂指定大小的角度 </div><div class="ttdef"><b>Definition:</b> control.h:31</div></div>
<div class="ttc" id="class_control_html_ad223c63a5825a584f17a4cfc3b1b021d"><div class="ttname"><a href="class_control.html#ad223c63a5825a584f17a4cfc3b1b021d">Control::RotateMasterAbs</a></div><div class="ttdeci">bool RotateMasterAbs(float angle, float speed=-1, bool immediate=false)</div><div class="ttdoc">旋转主臂到指定角度 </div><div class="ttdef"><b>Definition:</b> control.h:23</div></div>
<div class="ttc" id="class_view_html"><div class="ttname"><a href="class_view.html">View</a></div><div class="ttdoc">视图类 </div><div class="ttdef"><b>Definition:</b> view.h:14</div></div>
<div class="ttc" id="class_control_html_a265d02f2f3c4e5bcffab2726ae72b54c"><div class="ttname"><a href="class_control.html#a265d02f2f3c4e5bcffab2726ae72b54c">Control::setView</a></div><div class="ttdeci">void setView(View *view)</div><div class="ttdoc">设置3D视图 </div><div class="ttdef"><b>Definition:</b> control.h:92</div></div>
<div class="ttc" id="class_control_html"><div class="ttname"><a href="class_control.html">Control</a></div><div class="ttdoc">控制类 </div><div class="ttdef"><b>Definition:</b> control.h:10</div></div>
<div class="ttc" id="class_control_html_ab356fe0c8c30559cbeeb38d4b2c4cc1b"><div class="ttname"><a href="class_control.html#ab356fe0c8c30559cbeeb38d4b2c4cc1b">Control::setModel</a></div><div class="ttdeci">void setModel(Model *model)</div><div class="ttdoc">设置数据模型 </div><div class="ttdef"><b>Definition:</b> control.h:87</div></div>
<div class="ttc" id="class_control_html_aa3dfe35b337f0342abc4aaa9b25d334a"><div class="ttname"><a href="class_control.html#aa3dfe35b337f0342abc4aaa9b25d334a">Control::actionFinished</a></div><div class="ttdeci">void actionFinished()</div><div class="ttdoc">动作完成信号 </div></div>
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